Abstract
Generally, when we try to swing up pendulums one by one in a multiple inverted pendulum system and to stabilize them, we have a problem that the control inputs to stabilize pendulums and to swing up a pendulum interfere. To solve this problem, we proposed the subspace control for stabilizing the system and the method to swing up a pendulum by nonlinear resonance based on Jacobian elliptic function, and we have achieved some results about applying their method to various inverted pendulum system. In this report, we apply these methods to a parallel-serial inverted pendulum system and verify the effectiveness of the methods by numerical simulation and experiments.
